These are research projects that have been (mostly) dormant for a few years.
Descriptions of more recent projects appear here.
Real robots must effectively collect, interpret, and act upon sensor data. How sophisticated must a robot's sensors be to complete a given task? What are the neccessary conditions? We seek the simplest robots that can complete a task, giving a precise meaning to the idea of simpleness. My goal is to develop a clean, formal technique for comparing robot systems and for studying their ability to complete tasks of varying difficulty. This work draws inspiration from the theory of computation, which plays a similar role in the core of computer science.